light::PathEvent Struct Reference

Mid-path action triggered at a specific input waypoint. More...

#include <ramsete.hpp>

Public Attributes
int	atWaypoint = 0
	Index of the waypoint to fire on.
std::function< void()>	action
	Callback invoked when the trigger is reached.

Detailed Description

Mid-path action triggered at a specific input waypoint.

atWaypoint is zero-based. Semantics depend on the entry point:

• followTrajectory(wps, cons, events, …) — index into the wps vector.
• runJerryioPath / runJerryioPathFromSD — index into the CSV's heading-bearing lines (the points you clicked in Jerryio). For CSVs with no heading columns at all, falls back to raw line index.

action is invoked from the 10 ms control tick on which the trajectory's sampled time first passes the event's resolved time. Each event fires at most once. Callbacks may call light::setPose() to re-zero odom mid-path — the next tick will read the new pose and the RAMSETE error term will correct against the unchanged trajectory.

Definition at line 48 of file ramsete.hpp.

Member Data Documentation

action

std::function<void()> light::PathEvent::action

Callback invoked when the trigger is reached.

Definition at line 50 of file ramsete.hpp.

atWaypoint

int light::PathEvent::atWaypoint = 0

Index of the waypoint to fire on.

Definition at line 49 of file ramsete.hpp.

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The documentation for this struct was generated from the following file:

• include/LightLib/path/ramsete.hpp